基于激光雷达的挖掘机器人回转避障研究  

Study on obstacle avoidance of excavator robot rotating based on laser radar

作　　者：朱建新[1,2] 罗刚 汪志杰[2] 吴钪 赵喻明 边国敏[1] ZHU Jian-xin LUO Gang WANG Zhi-jie WU Kang ZHAO Yu-ming BIAN Guo-min(State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha 410083, China National Enterprise R＆D Center, Sunward Intelligent Equipment Co Ltd, Changsha 410100, China)

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [2]山河智能装备股份有限公司国家级企业技术中心,湖南长沙410100

出　　处：《传感器与微系统》2017年第9期41-44,共4页Transducer and Microsystem Technologies

基　　金：国家"十二五"科技支撑计划资助项目(2013BAF07B02)

摘　　要：针对挖掘机器人在回转过程中易发生事故的现象,提出了工作装置回转避障方法。通过分析挖掘机器人工作装置的运动特性,结合运动学建立了挖掘机器人的运动学模型。利用安装在挖掘机器人两侧的激光雷达对作业环境进行识别,根据识别的障碍物求解可行域,并通过避障算法控制挖掘机器人避开障碍物。实验结果表明:挖掘机器人能安全避开障碍物,证明了方法的可行性。Aiming at the phenomenon of excavator robots easily having accidents in the course of swing,a method is put forward for excavator robots to avoid barriers in this process. By analyzing kinetic characteristic of working device of excavator robot and combining kinematics,kinematics model for robot is established. Laser radar which are installed on both sides of the excavator robot working device are used to identify the operating environment in the process of the excavator robot swing. According to the identified obstacles to solve feasible region,the system will apply the obstacle avoidance algorithm to make the robot avoid obstacles. The experimental results show that the excavator robot prototype can safely avoid obstacles,which verifies the feasibility of the method.

关 键 词：挖掘机器人 运动学模型 激光雷达 避障算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]